Identifying the licking behaviour in beef cattle may provide a means to measure time spent licking for estimating individual block supplement intake. This study aimed to determine the effectiveness of tri-axial accelerometers deployed in a neck-collar and an ear-tag, to characterise the licking behaviour of beef cattle in individual pens. Four, 2-year-old Angus steers weighing 368 ± 9.3 kg (mean ± SD) were used in a 14-day study. Four machine learning (ML) algorithms (decision trees [DT], random forest [RF], support vector machine [SVM] and k-nearest neighbour [kNN]) were employed to develop behaviour classification models using three different ethograms: (1) licking vs. eating vs. standing vs. lying; (2) licking vs. eating vs. inactive; and (3) licking vs. non-licking. Activities were video-recorded from 1000 to 1600 h daily when access to supplement was provided. The RF algorithm exhibited a superior performance in all ethograms across the two deployment modes with an overall accuracy ranging from 88% to 98%. The neck-collar accelerometers had a better performance than the ear-tag accelerometers across all ethograms with sensitivity and positive predictive value (PPV) ranging from 95% to 99% and 91% to 96%, respectively. Overall, the tri-axial accelerometer was capable of identifying licking behaviour of beef cattle in a controlled environment. Further research is required to test the model under actual grazing conditions.